Add (ccr, lf) x (p3, p4) computation

[hubacji1/psp.git] / src / psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index 39fd3280b73cad4a9ede1a1f186aad6928f4f037..99f5d3d71d1c1f0e460ce6fd287e291891cfee41 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -399,6 +399,19 @@ void PSPlanner::fe_parallel()
                                         std::get<1>(cli2), std::get<2>(cli2),
                                         std::get<3>(cli2), std::get<4>(cli2)
                                 );
+                                if (std::get<0>(cli1) && (
+                                        !std::get<0>(cli2)
+                                        || a1 < a2
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a1);
+                                } else if (std::get<0>(cli2) && (
+                                        !std::get<0>(cli1)
+                                        || a2 < a1
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a2);
+                                } else {
+                                        continue;
+                                }
                         } else if (ccl_lr >= ccl_p1) {
                                 // in parking slot
                                 auto cli1 = ::intersect(
@@ -423,42 +436,126 @@ void PSPlanner::fe_parallel()
                                         std::get<1>(cli2), std::get<2>(cli2),
                                         std::get<3>(cli2), std::get<4>(cli2)
                                 );
+                                if (std::get<0>(cli1) && (
+                                        !std::get<0>(cli2)
+                                        || a1 < a2
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a1);
+                                } else if (std::get<0>(cli2) && (
+                                        !std::get<0>(cli1)
+                                        || a2 < a1
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a2);
+                                } else {
+                                        continue;
+                                }
                         }
-                        if (std::get<0>(cli1) && (
-                            (!std::get<0>(cli2) && !std::get<0>(cli3))
-                            || (a1 < a2 && !std::get<0>(cli3))
-                            || (a1 < a3 && !std::get<0>(cli2))
-                            || (a1 < a2 && a1 < a3)
-                        )) {
-                            this->cc().rotate(cclx, ccly, -a1);
-                        } else if (std::get<0>(cli2) && (
-                            (!std::get<0>(cli1) && !std::get<0>(cli3))
-                            || (a2 < a1 && !std::get<0>(cli3))
-                            || (a2 < a3 && !std::get<0>(cli1))
-                            || (a2 < a1 && a2 < a3)
-                        )) {
-                            this->cc().rotate(cclx, ccly, -a2);
-                        } else if (std::get<0>(cli3) && (
-                            (!std::get<0>(cli1) && !std::get<0>(cli2))
-                            || (a3 < a1 && !std::get<0>(cli2))
-                            || (a3 < a2 && !std::get<0>(cli1))
-                            || (a3 < a1 && a3 < a2)
-                        )) {
-                            this->cc().rotate(cclx, ccly, -a3);
-                        } else {
-                            continue;
-                        }
-                        if (::right_side_of_line(
-                            this->cc().x(), this->cc().y(),
-                            this->cc().x() + cos(this->ps().heading()),
-                            this->cc().y() + sin(this->ps().heading()),
-                            this->cc().x() + cos(this->cc().h()),
-                            this->cc().y() + sin(this->cc().h())
-                        ))
-                            continue;
                 } else if (this->ps().right() && this->cc().sp() > 0) {
                         double ccrx = this->cc().ccr().x();
                         double ccry = this->cc().ccr().y();
+                        double ccr_lf = edist(
+                                ccrx, ccry,
+                                this->cc().lfx(), this->cc().lfy()
+                        );
+                        double ccr_rf = edist(
+                                ccrx, ccry,
+                                this->cc().rfx(), this->cc().rfy()
+                        );
+                        {
+                                auto clif = ::intersect(
+                                        ccrx, ccry, ccr_lf,
+                                        this->ps().x1(), this->ps().y1(),
+                                        this->ps().x4(), this->ps().y4()
+                                );
+                                double af = std::abs(
+                                        this->ps().heading()
+                                        - this->cc().h()
+                                );
+                                double xf = this->ps().x4();
+                                double yf = this->ps().y4();
+                                if (std::get<0>(clif)) {
+                                        xf = std::get<1>(clif);
+                                        yf = std::get<2>(clif);
+                                        if (
+                                                edist(
+                                                        this->ps().x4(),
+                                                        this->ps().y4(),
+                                                        std::get<3>(clif),
+                                                        std::get<4>(clif)
+                                                ) < edist(
+                                                        this->ps().x4(),
+                                                        this->ps().y4(),
+                                                        xf, yf
+                                                )
+                                        ) {
+                                                xf = std::get<3>(clif);
+                                                yf = std::get<4>(clif);
+                                        }
+                                        af = ::angle_between_three_points(
+                                                this->cc().lfx(),
+                                                this->cc().lfy(),
+                                                ccrx, ccry,
+                                                xf, yf
+                                        );
+                                }
+                                auto tmp_cc = BicycleCar(this->cc());
+                                this->cc().rotate(ccrx, ccry, -af);
+                                if (
+                                        !this->collide()
+                                        && (
+                                                edist(
+                                                        this->ps().x1(),
+                                                        this->ps().y1(),
+                                                        xf, yf
+                                                ) < edist(
+                                                        this->ps().x1(),
+                                                        this->ps().y1(),
+                                                        this->ps().x4(),
+                                                        this->ps().y4()
+                                                )
+                                                || !std::get<0>(clif)
+                                        )
+                                ) {
+                                        this->cc().sp(this->cc().sp() * -1);
+                                        this->gc() = BicycleCar(this->cc());
+                                        goto successfinish;
+                                } else {
+                                        this->cc() = BicycleCar(tmp_cc);
+                                }
+                        }
+                        auto cli1 = ::intersect(
+                                ccrx, ccry, ccr_rf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
+                        );
+                        double a1 = smaller_angle_of_two(
+                                this->cc().rfx(), this->cc().rfy(),
+                                ccrx, ccry,
+                                std::get<1>(cli1), std::get<2>(cli1),
+                                std::get<3>(cli1), std::get<4>(cli1)
+                        );
+                        auto cli2 = ::intersect(
+                                ccrx, ccry, ccr_rf,
+                                this->ps().x2(), this->ps().y2(),
+                                this->ps().x3(), this->ps().y3()
+                        );
+                        double a2 = smaller_angle_of_two(
+                                this->cc().rfx(), this->cc().rfy(),
+                                ccrx, ccry,
+                                std::get<1>(cli2), std::get<2>(cli2),
+                                std::get<3>(cli2), std::get<4>(cli2)
+                        );
+                        auto cli3 = ::intersect(
+                                ccrx, ccry, ccr_lf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
+                        );
+                        double a3 = smaller_angle_of_two(
+                                this->cc().lfx(), this->cc().lfy(),
+                                ccrx, ccry,
+                                std::get<1>(cli3), std::get<2>(cli3),
+                                std::get<3>(cli3), std::get<4>(cli3)
+                        );
 {
         double rf = sqrt(
                 pow(this->cc().lfy() - ccry, 2)